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dc.contributor.authorDinçmen, Erkinen_US
dc.date.accessioned2019-03-25T01:20:07Z
dc.date.available2019-03-25T01:20:07Z
dc.date.issued2017-06
dc.identifier.citationDinçmen, E. (2017).Design of a global extremum seeking algorithm for an omni-directional robot model. Control Engineering and Applied Informatics, 19(2), 111-121.en_US
dc.identifier.issn1454-8658
dc.identifier.otherWOS:000404695500012
dc.identifier.urihttps://hdl.handle.net/11729/1488
dc.description.abstractA global extremum seeking algorithm is developed for a mobile robot model where the aim is to find the location of the most powerful signal source among the others. In other words, the control problem is to seek the global extremum point of a performance function when there are local extremas. The locations of the signal sources and signal distribution characteristics are unknown, i.e. the gradient of the performance function is unknown. The control algorithm also doesn't use any position measurement of the mobile robot itself. Henceforth, the controller is suitable for the missions where the robot moves in an unknown terrain with no GPS signal and no inertial measurements. Only the signal magnitude should be measured via a sensor mounted on the robot during the motion. A gradient estimator is designed to determine the motion direction towards the extremum point. When a local extremum is found, the robot will continue its search for another extremum points. Once each extremums have been visited, the robot will compare the signal levels on each source and identify the global extremum i.e. the most powerful signal source. In the absence of any position measurements, the robot can move towards the global extremum by repeating its motion history backwards. In the literature, this is the first global extremum seeking algorithm that has been developed for an omni-directional mobile robot model. Via the simulation studies it has been shown that the control algorithm can seek and find both stationary and non stationary signal sources and it can find the global extremum point when there are local extremas.en_US
dc.language.isoengen_US
dc.publisherRomanian Soc Control Tech Informaticsen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectGlobal optimizationen_US
dc.subjectExtremum seekingen_US
dc.subjectOmni-directional roboten_US
dc.subjectGradient estimationen_US
dc.subjectMobile roboten_US
dc.subjectSliding modesen_US
dc.subjectSystemsen_US
dc.subjectOptimizationen_US
dc.subjectVehiclesen_US
dc.subjectTrackingen_US
dc.titleDesign of a global extremum seeking algorithm for an omni-directional robot modelen_US
dc.typearticleen_US
dc.description.versionPublisher's Versionen_US
dc.relation.journalControl Engineering and Applied Informaticsen_US
dc.contributor.departmentIşık Üniversitesi, Mühendislik Fakültesi, Makine Mühendisliği Bölümüen_US
dc.contributor.departmentIşık University, Faculty of Engineering, Department of Mechanical Engineeringen_US
dc.contributor.authorID0000-0002-3234-281X
dc.identifier.volume19
dc.identifier.issue2
dc.identifier.startpage111
dc.identifier.endpage121
dc.peerreviewedYesen_US
dc.publicationstatusPublisheden_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.contributor.institutionauthorDinçmen, Erkinen_US


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